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alexsleat / projectChimaera

Rinzler is an exceptionally skilled warrior and is the elite combatant in all games in the Grid.
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Navigation stack #61

Open GarethG opened 12 years ago

GarethG commented 12 years ago

The navigation stack takes a 2D occupancy grid and /tf and creates navigation solutions to set waypoints.

ghost commented 12 years ago

Thought about this. Occupancy grid outputs data with x,y,and certainty co-ordinates. From this we can read where we are and get info on where we want to go. About keeping the map good, thinking when we start to map we should set the heading for north or a fixed position every time before starting slam. That way we have a good idea of where we're facing in the map. Gyro info in the form of the quaternion could be good enough, if not we can use the compass heading and figure it out from that.